#!/bin/bash
################################################################################
# usage: linuxcnc [options] [<INI file>]
#
# options: see usage() function below
#
# this version calls pickconfig.tcl to pick an INI file if one
# is not specified on the command line
#
################################################################################
# Author:
# License: GPL Version 2
# System: Linux
#    
# Copyright (c) 2004-2009 All rights reserved.
################################################################################

# -1. Get all rip-environment items if we are RIP
# Shellcheck doesn't know about substitutions
# shellcheck disable=SC2050
if [ "yes" = "@RUN_IN_PLACE@" ]; then
    if test "${EMC2_HOME:-}" != "@EMC2_HOME@"; then
        exec @EMC2_HOME@/scripts/rip-environment linuxcnc "$@"
    fi
fi

# Force pyopengl (python3-opengl) to use its GLX backend, even
# if we're running on Wayland where it would normally use EGL.
# Similar for the Gtk and Qt backends.
if [[ ! -v LINUXCNC_OPENGL_PLATFORM || "${LINUXCNC_OPENGL_PLATFORM}" == "glx" ]]; then
    export PYOPENGL_PLATFORM="x11"
    export GDK_BACKEND="x11"
    export QT_QPA_PLATFORM="xcb"
fi

################################################################################
# 0. Values that come from configure
################################################################################
prefix=@prefix@
exec_prefix=@exec_prefix@

PIDOF="@PIDOF@ -x"
PS=@PS@
AWK=@AWK@
GREP=@GREP@
IPCS=@IPCS@
KILL=@KILL@

LINUXCNC_HOME=@EMC2_HOME@; export LINUXCNC_HOME

LINUXCNC_BIN_DIR=@EMC2_BIN_DIR@
LINUXCNC_TCL_DIR=@EMC2_TCL_DIR@
LINUXCNC_HELP_DIR=@EMC2_HELP_DIR@
LINUXCNC_RTLIB_DIR=@EMC2_RTLIB_DIR@
LINUXCNC_CONFIG_PATH="@LINUXCNC_CONFIG_PATH@"
LINUXCNC_NCFILES_DIR=@EMC2_NCFILES_DIR@
LINUXCNC_LANG_DIR=@EMC2_LANG_DIR@
REALTIME=@REALTIME@
LINUXCNC_IMAGEDIR=@EMC2_IMAGE_DIR@
LINUXCNC_TCL_LIB_DIR=@EMC2_TCL_LIB_DIR@
HALLIB_DIR=@HALLIB_DIR@; export HALLIB_DIR

#HALLIB_PATH: see also -H option
HALLIB_PATH=.:$HALLIB_DIR; export HALLIB_PATH

# put ~.local/bin in PATH if missing. See:
# https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=839155
if [ -d "$HOME"/.local/bin ]; then
    if [[ "$PATH" != *".local/bin"* ]]; then
        PATH=$HOME/.local/bin:$PATH
    fi
fi

#put the LINUXCNC_BIN_DIR in PATH
PATH=$LINUXCNC_BIN_DIR:$PATH
#ditto scripts if not RIP
[ -d $LINUXCNC_HOME/scripts ] && PATH=$LINUXCNC_HOME/scripts:$PATH

# Shellcheck doesn't know about substitutions
# shellcheck disable=SC2050
if [ "yes" = "@RUN_IN_PLACE@" ]; then
	if [ -z "$LD_LIBRARY_PATH" ]; then
	    LD_LIBRARY_PATH=$LINUXCNC_HOME/lib
	else
	    LD_LIBRARY_PATH=$LINUXCNC_HOME/lib:"$LD_LIBRARY_PATH"
	fi
	export LD_LIBRARY_PATH
fi

if [ -z "$PYTHONPATH" ]; then
    PYTHONPATH=$LINUXCNC_HOME/lib/python
else
    PYTHONPATH=$LINUXCNC_HOME/lib/python:"$PYTHONPATH"
fi
export PYTHONPATH

if test "xyes" != "x@RUN_IN_PLACE@"; then
    if [ -z "$TCLLIBPATH" ]; then
         TCLLIBPATH=$LINUXCNC_HOME/lib/tcltk
    else
        TCLLIBPATH="$LINUXCNC_HOME/lib/tcltk $TCLLIBPATH"
    fi
    export TCLLIBPATH
fi


MODULE_EXT=@MODEXT@ # module extension, used when insmod'ing

DEBUG_FILE=$(mktemp /tmp/linuxcnc.debug.XXXXXX)
PRINT_FILE=$(mktemp /tmp/linuxcnc.print.XXXXXX)

program_available () {
    type -path "$1" > /dev/null 2>&1
}

usage () {
    P=${0##*/}
    cat <<EOF
$P: Run LinuxCNC

Usage:
  $ $P -h
    This help

  $ $P [Options]
    Choose the configuration INI file graphically

  $ $P [Options] path/to/your_ini_file
    Name the configuration INI file using its path

  $ $P [Options] -l
    Use the previously used configuration INI file

Options:
    -d: Turn on "debug" mode
    -v: Turn on "verbose" mode
    -r: Disable redirection of stdout and stderr to ~/linuxcnc_print.txt and
        ~/linuxcnc_debug.txt when stdin is not a tty.
        Used when running linuxcnc tests non-interactively.
    -l: Use the last-used INI file
    -k: Continue in the presence of errors in HAL files
    -t "tpmodulename [parameters]"
            specify custom trajectory_planning_module
            overrides optional INI setting [TRAJ]TPMOD
    -m "homemodulename [parameters]"
            specify custom homing_module
            overrides optional INI setting [EMCMOT]HOMEMOD
    -H "dirname": search dirname for HAL files before searching
                  INI directory and system library:
                  $HALLIB_DIR
Note:
    The -H "dirname" option may be specified multiple times
EOF

}

################################################################################
# 1.1. strip and process command line options
################################################################################
while getopts "dvlhkrH:t:m:" opt
do
    case "$opt" in
    d)
        # enable echoing of script and command output
        if tty -s; then
            DEBUG_FILE=/dev/fd/2
            echo "Debug mode on" >$DEBUG_FILE
        fi
        set -x;;
    v)
        # enable printing of verbose messages
        if tty -s; then
            PRINT_FILE=/dev/fd/1
            echo "Verbose mode on" >$PRINT_FILE
        fi;;
    r)
        RUNTESTS=yes
        ;;
    l)
        USE_LAST_INIFILE=1;;
    k)
        DASHK=-k;;
    h)
        usage
        exit 0;;
    H)  # -H dirname: prepend dirname to HALLIB_PATH
        if [ -d "$OPTARG" ]; then
            HALLIB_PATH=$(realpath "$OPTARG"):$HALLIB_PATH
            echo "HALLIB_PATH = $HALLIB_PATH"
        else
            echo "Invalid dirname specified: -H $OPTARG"
            exit 1
        fi
        ;;
    t)  # -t modname: user-supplied trajectory planning module
        # modname must conform to tpmod api,
        # and be located in: $LINUXCNC_RTLIB_DIR
        TPMOD=$OPTARG
        ;;
    m)  # -m modname: user-supplied homing module
        # modname must conform to homing api,
        # and be located in: $LINUXCNC_RTLIB_DIR
        HOMEMOD=$OPTARG
        ;;
    *)
        usage
        exit 1
    esac
done
shift $((OPTIND - 1))

# Shellcheck doesn't know about substitutions
# shellcheck disable=SC2194
case "@KERNEL_VERS@" in
"") ;;
*)
    if [ "$(uname -r)" != "@KERNEL_VERS@" ]; then
        if tty -s || [ -z "$DISPLAY" ]; then
            echo "LinuxCNC requires the real-time kernel @KERNEL_VERS@ to run."
            echo "Before running LinuxCNC, reboot and choose this kernel at the boot menu."
        else
            @WISH@ <<EOF
                wm wi .
                tk_messageBox -type ok \
                    -title LinuxCNC -icon error -title "Realtime Kernel Required" \
                    -message {LinuxCNC requires the real-time kernel @KERNEL_VERS@ to run.  Before running LinuxCNC, reboot and choose this kernel at the boot menu.}
                exit
EOF
        fi
        exit
    fi
esac

if [ -z "$RUNTESTS" ]; then
if ! tty -s; then
    exec 2>> "$DEBUG_FILE"
    exec >> "$PRINT_FILE"
fi
fi

# Stop complaining unreachable. It is trap code.
# shellcheck disable=SC2317
function ErrorCheck () {
    result=$?
    if [ -n "$DISPLAY" ]; then
        echo "catch {send -async popimage destroy .}; destroy ." | @WISH@
    fi

    if [ "$result" -ne 0 ]; then
        if tty -s || [ -z "$DISPLAY" ] ; then
            if [ -f "$DEBUG_FILE" ]; then
                cp "$DEBUG_FILE" "$HOME/linuxcnc_debug.txt"
            else
                echo "(debug information was sent to stderr)" \
                    > "$HOME/linuxcnc_debug.txt"
            fi

            if [ -f "$PRINT_FILE" ]; then
                cp "$PRINT_FILE" "$HOME/linuxcnc_print.txt"
            else
                echo "(print information was sent to stdout)" \
                    > "$HOME/linuxcnc_print.txt"
            fi

            echo "\
LinuxCNC terminated with an error.  You can find more information in the log:
    $HOME/linuxcnc_debug.txt
and
    $HOME/linuxcnc_print.txt
as well as in the output of the shell command 'dmesg' and in the terminal"
        else
            @WISH@ "$LINUXCNC_TCL_DIR/show_errors.tcl" "$DEBUG_FILE" "$PRINT_FILE"
        fi
    fi
    rm -f "$DEBUG_FILE" "$PRINT_FILE" 2>/dev/null
    exit "$result"
}

trap ErrorCheck EXIT

################################################################################
# 1.3. INIFILE                           find INI file to use                   #
################################################################################

if [ -n "$1" ]; then
    case "$1" in
      -)  USE_LAST_INIFILE=1;;
      /*) INIFILE="$1" ;;
      *)  INIFILE="$(pwd)/$1";;
    esac
    shift
fi
EXTRA_ARGS=("$@")

# 1.3.1. Determine if we have run-in place or installed system
RUN_IN_PLACE=@RUN_IN_PLACE@
echo "RUN_IN_PLACE=$RUN_IN_PLACE" >> "$PRINT_FILE"

if [ RUN_IN_PLACE = "yes" ]; then
    LINUXCNC_RIP_FLAG="True"; export LINUXCNC_RIP_FLAG
fi

LINUXCNCVERSION="@EMC2VERSION@"; export LINUXCNCVERSION


# common from here..
INIVAR=inivar
HALCMD="halcmd $DASHK"
PICKCONFIG="@WISH@ $LINUXCNC_TCL_DIR/bin/pickconfig.tcl"
LINUXCNC_EMCSH=@WISH@

{
    echo "LINUXCNC_DIR=$LINUXCNC_DIR"
    echo "LINUXCNC_BIN_DIR=$LINUXCNC_BIN_DIR"
    echo "LINUXCNC_TCL_DIR=$LINUXCNC_TCL_DIR"
    echo "LINUXCNC_SCRIPT_DIR=$LINUXCNC_SCRIPT_DIR"
    echo "LINUXCNC_RTLIB_DIR=$LINUXCNC_RTLIB_DIR"
    echo "LINUXCNC_CONFIG_DIR=$LINUXCNC_CONFIG_DIR"
    echo "LINUXCNC_LANG_DIR=$LINUXCNC_LANG_DIR"
    echo "INIVAR=$INIVAR"
    echo "HALCMD=$HALCMD"
    echo "LINUXCNC_EMCSH=$LINUXCNC_EMCSH"
} >> "$PRINT_FILE"

#export some common directories, used by some of the GUI's
export LINUXCNC_TCL_DIR
export LINUXCNC_EMCSH
export LINUXCNC_HELP_DIR
export LINUXCNC_LANG_DIR
export REALTIME
export HALCMD
export LINUXCNC_NCFILES_DIR

[ -z "$RUNTESTS" ] && echo "LINUXCNC - $LINUXCNCVERSION"

# was an INI file specified on the command line?
if [ -n "$USE_LAST_INIFILE" ]; then
    INIFILE=$($INIVAR -ini ~/.linuxcncrc -var LAST_CONFIG -sec PICKCONFIG 2>> "$DEBUG_FILE")
    echo "Using previous INI file: $INIFILE" >> "$PRINT_FILE"
fi

if [ -z "$INIFILE" ] ; then
    # nothing specified, get from the user
    # it returns either a path, or nothing at all
    INIFILE=$($PICKCONFIG)
    # if name is xxxx.demo, then:
    #    execute xxxx.demo in background and exit
    if [ "${INIFILE%%.demo}".demo = "${INIFILE}" ] ; then
      "${INIFILE}" &
      exit 0
    fi
fi

if [ -z "$INIFILE" ] ; then
    # still nothing specified, exit
    exit 0
fi

function handle_includes () {
  hdr="# handle_includes():"
  inifile="$1"
  cd "$(dirname "$inifile")" || { echo "E: Could not change directory to '$(dirname "$inifile")'"; exit 1; } ;# for the function() subprocess only
  $GREP "^#INCLUDE" "$inifile" >/dev/null
  status=$?
  if [ $status -ne 0 ] ; then
    echo "$inifile" ;# just use the input
    return 0 ;# ok
  fi
  outfile="$(dirname "$inifile")/$(basename "$inifile").expanded"
  true >|"$outfile"
  {
    echo "#*** $outfile"
    echo "#*** Created: $(date)"
    echo "#*** Autogenerated file with expanded #INCLUDEs"
    echo ""
  } >>"$outfile"
  line=0
  while read -r a b ; do
    line=$((line + 1))
    if [ "$a" = "#INCLUDE" ] ; then
       if [ "X$b" = "X" ] ; then
          msg="$hdr <$line> found #INCLUDE with no filename" >>"$outfile"
          echo "$msg" >&2
          echo "$msg" >>"$outfile"
       else
          # expand file name
          breal=$(eval echo "$b")
          # -r: readable
          if  [ -r "$breal" ] ; then
            {
              echo ""
              echo "#*** Begin #INCLUDE file: $breal"
              cat "$breal"
              echo "#*** End   #INCLUDE file: $breal"
            } >>"$outfile"
          else
            msg="$hdr <$line> CANNOT READ $breal"
            echo "$msg" >&2
            echo "$msg" >>"$outfile"
          fi
       fi
    else
       echo "$a $b" >> "$outfile"
    fi
  done <"$inifile"
  echo "$outfile" ;# use the expanded file
  return 0 ;# ok
}

function split_app_items () {
  app_name=$1
  shift
  app_args=$*
}

function run_applications () {
    NUM=1
    APPFILE=$($INIVAR -tildeexpand -ini "$INIFILE" -var APP -sec APPLICATIONS -num $NUM 2> /dev/null)
    if [ -z "$APPFILE" ] ; then return ; fi
    DEFAULT_APPLICATION_DELAY=0
    GetFromIni DELAY APPLICATIONS
    DELAY=${retval:-$DEFAULT_APPLICATION_DELAY}
    while [ -n "$APPFILE" ] ; do
       # These may be unquoted, the ini-file entry must be quoted
       # shellcheck disable=SC2086
       split_app_items $APPFILE # --> app_name app_args
       # try all explicit specifications before trying PATH
       case "$app_name" in
         /*) # absolute pathname
             exe_name=$app_name;;
       \./*) # name relative to INI file directory
             exe_name="$(pwd)/$app_name";;
          *) # try local first then PATH
             exe_name=$(pwd)/$app_name
             if [ ! -x "$exe_name" ] ; then
               exe_name=$(command -v $app_name)
             fi
       esac
       if [ ! -f "$exe_name" ] ; then
          echo "APP: Cannot find executable file for: <$app_name>"
       else
          if [ ! -x "$exe_name" ] ; then
             echo "APP: File not executable: <$exe_name>"
          else
             echo "APP: $app_name found: <$exe_name>"
             # app_args may be unquoted, the ini-file entry must be quoted
             # shellcheck disable=SC2086
             (sleep "$DELAY"; eval "$exe_name" $app_args) &
          fi
       fi
       NUM=$((NUM + 1))
       APPFILE=$($INIVAR -tildeexpand -ini "$INIFILE" -var APP -sec APPLICATIONS -num $NUM 2> /dev/null)
    done
}

INIFILE="$(handle_includes "$INIFILE")"

# delete directories from path, save name only
INI_NAME="${INIFILE##*/}"
INI_DIR="${INIFILE%/*}"
CONFIG_DIR="${INIFILE%/*}"
export CONFIG_DIR
export PATH=$CONFIG_DIR/bin:$PATH

[ -z "$RUNTESTS" ] && echo "Machine configuration directory is '$INI_DIR'"
echo "Machine configuration file is '$INI_NAME'"

# make sure INI file exists (the tcl script just did this, so we could 
# eliminate this test, but it does no harm)

if [ ! -f "$INIFILE" ] ; then
    echo "Could not find INI file '$INIFILE'"
    trap '' EXIT
    exit 1
fi
echo INIFILE="$INIFILE" >> "$PRINT_FILE"

################################################################################
# 2.  extract info from the INI file that we will need later
################################################################################
retval=

# 2.1. define helper function
function GetFromIniQuiet {
    #$1 var name   $2 - section name
    name=$1
    retval=$($INIVAR -ini "$INIFILE" -var "$1" -sec "$2" 2> /dev/null)
    if [ -z "$1" ] ; then
	exit 1
    fi
    echo "$name=$retval" >> "$PRINT_FILE"
}

function GetFromIni {
    #$1 var name   $2 - section name
    name=$1
    retval=$($INIVAR -ini "$INIFILE" -var "$1" -sec "$2" 2>> "$DEBUG_FILE")
    if [ -z "$1" ] ; then
	echo "Can't find variable $1 in section [$2] of file $INIFILE."
	exit 1
    fi
    echo "$name=$retval" >> "$PRINT_FILE"
}

# Usage:
#  GetFromIniEx VAR1 SEC1 [VAR2 SEC2...VARn SECn] [default]
function GetFromIniEx {
    original_var="[$2]$1"
    while [ $# -ge 2 ]; do
	if retval=$($INIVAR -ini "$INIFILE" -var "$1" -sec "$2" 2>/dev/null); then return; fi
	shift 2
    done
    if [ $# -eq 0 ]; then
	echo "Can't find $original_var in $INIFILE."
	exit 1
    fi
    retval="$1"
}

# 2.1.5 check version
GetFromIni VERSION EMC
if [ "$retval" != "1.1" ]; then
    if [ -z "$DISPLAY" ]; then
        echo "INI file [EMC]VERSION indicates update is needed, but the update GUI can't run without an X display"
        exit 1
    fi
    update_ini -d "$INIFILE"
    exitval=$?
    case "$exitval" in
    0) ;;
    42) echo "update_ini cancelled by user" ; exit 0;;
    *) echo "update script failed in an unexpected way."; exit $exitval ;;
    esac
fi

@TCLSH@ "$HALLIB_DIR/check_config.tcl" "$INIFILE"
exitval=$?
case "$exitval" in
  0) ;;
  1) echo "check_config validation failed"; exit $exitval ;;
  *) echo "check_config validation failed in an unexpected way."; exit $exitval ;;
esac
# 2.2. get param file

GetFromIni PARAMETER_FILE RS274NGC 
RS274NGC_PARAMFILE=$retval

# 2.3. get mot information
GetFromIniEx MOT MOT EMCMOT EMCMOT motmod
EMCMOT=$retval$MODULE_EXT # add module extension

# commandline -t option supersedes INI file setting
if [ -z "$TPMOD" ] ; then
    GetFromIniQuiet TPMOD   TRAJ
    TPMOD=${retval:-tpmod} #use default if not found
fi
# commandline -m option supersedes INI file setting
if [ -z "$HOMEMOD" ] ; then
    GetFromIniQuiet HOMEMOD EMCMOT
    HOMEMOD=${retval:-homemod} #use default if not found
fi

# 2.5. get task information
GetFromIni TASK TASK
EMCTASK=$retval

if [ "$EMCTASK" = emctask ]; then EMCTASK=linuxcnctask; fi

# 2.6. we hardcode the server name, change if needed
# linuxcncsvr now holds/creates all the NML channels,
# so it needs to start by default, as the first process
EMCSERVER=linuxcncsvr

# 2.7. get halui information
GetFromIniQuiet HALUI HAL
HALUI=$retval

# 2.7.1 get halbridge info from INI
GetFromIniQuiet HALBRIDGE HAL
HALBRIDGE=$retval

# 2.8. get display information
GetFromIni DISPLAY DISPLAY
EMCDISPLAY=$( (set -- $retval ; echo "$1") )
EMCDISPLAYARGS=$( (set -- $retval ; shift; echo "$*") )

case $EMCDISPLAY in
    tkemc) EMCDISPLAY=tklinuxcnc ;;
esac

# 2.9. get NML config information
GetFromIniEx NML_FILE LINUXCNC NML_FILE EMC @DEFAULT_NMLFILE@
NMLFILE=$retval
export NMLFILE

# 2.10. INI information that may be needed by other apps in process tree
GetFromIni COORDINATES TRAJ
TRAJ_COORDINATES=$retval
export TRAJ_COORDINATES

GetFromIni KINEMATICS KINS
KINS_KINEMATICS=$retval
export KINS_KINEMATICS

################################################################################
# 3. Done gathering information, define a few functions
# Execution resumes after function definitions...
################################################################################

KILL_TASK=
KILL_TIMEOUT=20

################################################################################
# 3.1. Kills a list of tasks with timeout
# if it doesn't work, kill -9 is used
################################################################################
function KillTaskWithTimeout() {
    if [ -z "$KILL_PIDS" ] ; then
	KILL_PIDS=$($PIDOF $KILL_TASK)
    fi
    if [ -z "$KILL_PIDS" ] ; then
	echo "Could not find pid(s) for task $KILL_TASK"
	return 1
    fi
    local NPROCS
    for KILL_PID in $KILL_PIDS ; do
        if $PS -o stat= -o comm= "$KILL_PID" | $GREP -q '^Z'; then
            echo "Skipping defunct task $KILL_TASK, PID=$KILL_PID" >> "$PRINT_FILE"
            continue
        fi
	# first a "gentle" kill with signal TERM
	$KILL "$KILL_PID"
	WAIT=$KILL_TIMEOUT
	# wait and see if it disappears
	while [ $WAIT -gt 1 ] ; do
	    # see if it's still alive
            NPROCS=$($PS -o stat= -o comm= "$KILL_PID" | $GREP -v '^Z' | wc -l)
            if [ "$NPROCS" -gt 0 ]; then
		WAIT=$((WAIT - 1))
		sleep .1
	    else
		WAIT=0
	    fi
	done
	if [ $WAIT -gt 0 ] ; then
	    # gentle didn't work, get serious
	    echo "Timeout, trying kill -9" >> "$PRINT_FILE"
	    $KILL -9 "$KILL_PID"
	    WAIT=$KILL_TIMEOUT
	    # wait and see if it disappears
	    while [ $WAIT -gt 1 ] ; do
		# see if it's still alive
                NPROCS=$($PS -o stat= -o comm= "$KILL_PID" | $GREP -v '^Z' | wc -l)
                if [ "$NPROCS" -gt 0 ]; then
		    WAIT=$((WAIT - 1))
		    sleep .1
		else
		    WAIT=0
		fi
	    done
	fi
	if [ $WAIT -gt 0 ] ; then
	    echo "Could not kill task $KILL_TASK, PID=$KILL_PID"
	fi
    done
    KILL_PIDS=
    KILL_TASK=
}


################################################################################
# 3.2. define the cleanup function
#
# this cleanup function doesn't know or care what was actually
# loaded - it simply kills _any_ processes in its list of
# components
################################################################################
function Cleanup() {

    echo "Shutting down and cleaning up LinuxCNC..."
    # Kill displays first - that should cause an orderly
    #   shutdown of the rest of linuxcnc
    for KILL_TASK in linuxcncpanel iosh linuxcncsh linuxcncrsh linuxcnctop mdi debuglevel gmoccapy gscreen; do
	if $PIDOF $KILL_TASK >> "$DEBUG_FILE" ; then
	    KillTaskWithTimeout
	fi
    done

    if program_available axis-remote ; then
	if [ -n "$DISPLAY" ]; then
	    axis-remote --ping && axis-remote --quit
	fi
    fi

    if [ "$1" = "other" ]; then
        echo -n "Waiting for other session to finish exiting..."
	WAIT=$KILL_TIMEOUT
	while [ $WAIT -gt 1 ]; do
            if [ ! -f "$LOCKFILE" ]; then
                echo " Ok"
                return 0
            fi
            WAIT=$((WAIT - 1))
            sleep .1
        done
        echo "lockfile still not removed"
    fi

    SHUTDOWN=$($INIVAR -ini "$INIFILE" -var SHUTDOWN -sec HAL 2> /dev/null)
    if [ -n "$SHUTDOWN" ]; then
	echo "Running HAL shutdown script"
	$HALCMD -f "$SHUTDOWN"
    fi

    # now kill all the other user space components
    for KILL_TASK in linuxcncsvr milltask motion-logger; do
	if $PIDOF $KILL_TASK >> "$DEBUG_FILE" ; then
	    KillTaskWithTimeout
	fi
    done

    echo "Stopping realtime threads" >> "$DEBUG_FILE"
    $HALCMD stop
    echo "Unloading hal components" >> "$DEBUG_FILE"
    $HALCMD unload all

    # Unused variable 'i', just a counter
    # shellcheck disable=SC2034
    for i in $(seq 10); do
        # (the one component is the halcmd itself)
        if [ "$($HALCMD list comp | wc -w)" = 1 ]; then break; fi
        sleep .2
    done

    echo "Removing HAL_LIB, RTAPI, and Real Time OS modules" >> "$PRINT_FILE"
    $REALTIME stop

    echo "Removing NML shared memory segments" >> "$PRINT_FILE"
    # Most field are unused, ignore warning
    # shellcheck disable=SC2034
    while read -r b x t x x x x x x m x; do
        case "$b$t" in
            BSHMEM) ipcrm -M "$m" 2>/dev/null;;
        esac
    done < "$NMLFILE"


    # remove lock file
    if [ -f "$LOCKFILE" ] ; then
	rm "$LOCKFILE"
    fi
}



################################################################################
# 4. done with function definitions, execution resumes here
################################################################################

# Name of lock file to check for that signifies that LinuxCNC is up,
# to prevent multiple copies of controller
LOCKFILE=/tmp/linuxcnc.lock

# Check for lock file
if [ -f "$LOCKFILE" ]; then
  if tty -s; then
    echo -n "LinuxCNC is still running.  Restart it? [Y/n] "
    read -r input; [ -z "$input" ] && input=y
  elif [ -z "$DISPLAY" ]; then
    echo "No display, no tty, trying to clean up other instance automatically"
    input=y
  else
    input=$(@WISH@ <<EOF
wm wi .
puts [tk_messageBox -title LinuxCNC -message "LinuxCNC is still running.  Restart it?" -type yesno]
exit
EOF
)
  fi
  case $input in
    y|Y|yes)
      echo Cleaning up old LinuxCNC...
      Cleanup other
    ;;
    *)
      echo Not starting new LinuxCNC
      exit 0
    ;;
  esac
fi
echo Starting LinuxCNC...

# trap ^C so that it's called if user interrupts script
trap 'Cleanup ; exit 0' SIGINT SIGTERM

# go to the dir where the INI file is
# either configs/<specific-config> when run-in-place, or
# /usr/local/share/linuxcnc/configs/<specific-config> (wherever it was installed)
cd "$INI_DIR" || { echo "E: Could not change directory to '$INI_DIR'"; exit 1; }

# Create the lock file
touch "$LOCKFILE"

################################################################################
# 4.1. pop up intro graphic
################################################################################
img=$($INIVAR -ini "$INIFILE" -var INTRO_GRAPHIC -sec DISPLAY 2>> "$DEBUG_FILE")
imgtime=$($INIVAR -ini "$INIFILE" -var INTRO_TIME -sec DISPLAY 2>> "$DEBUG_FILE")
if [ "$imgtime" = "" ] ; then
  imgtime=5
fi
if [ "$img" != "" ] ; then
  if [ -e "$img" ]; then
    true
  elif [ -e "$INI_DIR/$img" ]; then
    img="$INI_DIR/$img"
  elif [ -e "$LINUXCNC_IMAGEDIR/$img" ]; then
    img="$LINUXCNC_IMAGEDIR/$img"
  else
    img=
  fi
fi
if [ "$img" != "" ] ; then
    if [ -x "$LINUXCNC_TCL_DIR/bin/popimage" ] ; then
        "$LINUXCNC_TCL_DIR/bin/popimage" "$img" "$imgtime" &
    fi
fi
 
################################################################################
# 4.2. Now we can finally start loading LinuxCNC
################################################################################

# 4.3.1. Run linuxcncserver in background, always (it owns/creates the NML buffers)
echo "Starting LinuxCNC server program: $EMCSERVER" >> "$PRINT_FILE"
if ! program_available "$EMCSERVER"; then
    echo "Can't execute server program $EMCSERVER"
    Cleanup
    exit 1
fi
INI_FILE_NAME="$INIFILE"; export INI_FILE_NAME
$EMCSERVER -ini "$INIFILE"

# 4.3.2. Start REALTIME
echo "Loading Real Time OS, RTAPI, and HAL_LIB modules" >> "$PRINT_FILE"
if ! $REALTIME start ; then
    echo "Realtime system did not load"
    Cleanup
    exit 1
fi

# 4.3.3. export the location of the HAL realtime modules so that
# "halcmd loadrt" can find them
HAL_RTMOD_DIR=$LINUXCNC_RTLIB_DIR; export HAL_RTMOD_DIR
echo "$(basename "$0") TPMOD=$TPMOD HOMEMOD=$HOMEMOD EMCMOT=${EMCMOT%.*}"
eval $HALCMD loadrt "$TPMOD"
eval $HALCMD loadrt "$HOMEMOD"

# 4.3.7. Run task in background
echo "Starting TASK program: $EMCTASK" >> "$PRINT_FILE"
if ! program_available "$EMCTASK" ; then
    echo "Can't execute TASK program $EMCTASK"
    Cleanup
    exit 1
fi

halcmd loadusr -Wn inihal "$EMCTASK" -ini "$INIFILE"

# 4.3.5. Run halui in background, if necessary
if [ -n "$HALUI" ] ; then
    echo "Starting HAL User Interface program: $HALUI" >> "$PRINT_FILE"
    if ! program_available "$HALUI" ; then
	echo "Can't execute halui program $HALUI"
	Cleanup
	exit 1
    fi
    $HALCMD loadusr -Wn halui "$HALUI" -ini "$INIFILE"
fi

# run hal bridge program IF requested
if [ -n "$HALBRIDGE" ] ; then
    echo "Starting HAL User Interface program: $HALBRIDGE" >> "$PRINT_FILE"
    $HALCMD loadusr -Wn bridge $HALBRIDGE
fi

# 4.3.6. execute HALCMD config files (if any)

TWOPASS=$($INIVAR -ini "$INIFILE" -var TWOPASS -sec HAL -num 1 2> /dev/null)
if [ -n "$TWOPASS" ] ; then
  # 4.3.6.1. if [HAL]TWOPASS is defined, handle all [HAL]HALFILE entries here:
  CFGFILE=@EMC2_TCL_LIB_DIR@/twopass.tcl
  export PRINT_FILE # twopass can append to PRINT_FILE
  if ! haltcl -i "$INIFILE" "$CFGFILE" && [ -z "$DASHK" ]; then
      Cleanup
      exit 1
  fi
else
    # 4.3.6.2. conventional execution of  HALCMD config files
    # get first config file name from INI file
    NUM=1
    CFGFILE=$($INIVAR -tildeexpand -ini "$INIFILE" -var HALFILE -sec HAL -num $NUM 2> /dev/null)
    while [ -n "$CFGFILE" ] ; do
        # IFS backslash will take care of read not mangling backslashes
        # shellcheck disable=SC2141,SC2162
        IFS='\ ' read CFGFILE CFGFILE_ARGS <<< "$CFGFILE" # separate args
        foundmsg=""
        saveIFS=$IFS; IFS=: # colon (:) path separator for HALLIB_PATH
        explicit_file_in_hallib=${CFGFILE#LIB:} # strip leading 'LIB:'
        if [ -z "$explicit_file_in_hallib" ] ; then
           echo "ILLFORMED LIB:file:<$CFGFILE>"
        fi
        if [ "$explicit_file_in_hallib" !=  "$CFGFILE" ] ; then
          foundfile="$HALLIB_DIR/$explicit_file_in_hallib"
          if [ ! -r "$foundfile" ] ; then
              echo "CANNOT READ LIB:file:$foundfile"
          fi
          foundmsg="Found file(LIB): $foundfile"
        else
          if [ "${CFGFILE:0:1}" = "/" ] ; then
            foundfile=$CFGFILE ;# absolute path specified
            foundmsg="Found file(ABS): $foundfile"
          else 
            for pathdir in $HALLIB_PATH ; do
              foundfile=$pathdir/$CFGFILE
              if [ -r "$foundfile" ] ; then
                # use first file found in HALLIB_PATH
                if [ "${pathdir:0:1}" = "." ] ; then
                  foundmsg="Found file(REL): $foundfile"
                else
                  foundmsg="Found file(lib): $foundfile"
                fi
                break
              fi
            done
          fi
        fi
        [ -d "$foundfile" ] && foundmsg=""
        IFS=$saveIFS
        if [ -z "$foundmsg" ] ; then
          echo "CANNOT FIND FILE FOR:$CFGFILE"
          Cleanup
          exit 1
        fi
        echo "$foundmsg"
        CFGFILE="$foundfile"
        case $CFGFILE in
        *.tcl)
            if ! haltcl -i "$INIFILE" "$CFGFILE" $CFGFILE_ARGS \
               && [ -z "$DASHK" ]; then
                Cleanup
                exit 1
            fi
        ;;
        *)
            if ! $HALCMD -i "$INIFILE" -f "$CFGFILE" && [ -z "$DASHK" ]; then
                Cleanup
                exit 1
            fi
        esac
        # get next config file name from INI file
        NUM=$((NUM + 1))
        CFGFILE=$($INIVAR -tildeexpand -ini "$INIFILE" -var HALFILE -sec HAL -num $NUM 2> /dev/null)
    done
fi

# 4.3.8. execute discrete HAL commands from INI file (if any)
# get first command from INI file
NUM=1
HALCOMMAND=$($INIVAR -ini "$INIFILE" -var HALCMD -sec HAL -num $NUM 2> /dev/null)
while [ -n "$HALCOMMAND" ] ; do
    if [ -n "$HALCOMMAND" ] ; then
	echo "Running HAL command: $HALCOMMAND" >> "$PRINT_FILE"
        # The HALCOMMAND must be word-split
        # shellcheck disable=SC2086
	if ! $HALCMD $HALCOMMAND && [ -z "$DASHK" ]; then
	    echo "INI file HAL command $HALCOMMAND failed."
	    Cleanup
	    exit 1
	fi
    fi
    # get next command from INI file
    NUM=$((NUM + 1))
    HALCOMMAND=$($INIVAR -ini "$INIFILE" -var HALCMD -sec HAL -num $NUM 2> /dev/null)
done

# 4.3.9. start the realtime stuff ticking
$HALCMD start

# 4.3.10. run other applications
run_applications

# wait for traj to process for up to 10s before screen loading do to race condition
RACE_TIMEOUT=$((SECONDS + 10))
chk=$(halcmd getp ini.traj_max_velocity)
while (( $($AWK 'BEGIN {print ('"$chk"' == 0)}') )); do
    if [ $SECONDS -ge $RACE_TIMEOUT ]; then
        echo "ini.traj_max_velocity still 0.0 after $SECONDS seconds" | tee -a "$PRINT_FILE" "$DEBUG_FILE"
        break
    fi
    chk=$(halcmd getp ini.traj_max_velocity)
done

# 4.3.11. Run display in foreground
echo "Starting DISPLAY program: $EMCDISPLAY" >> "$PRINT_FILE"
result=0
case $EMCDISPLAY in
  tklinuxcnc)
    # tklinuxcnc is in the tcl directory, not the bin directory
    if [ ! -x "$LINUXCNC_TCL_DIR/$EMCDISPLAY.tcl" ] ; then
	echo "Can't execute DISPLAY program $LINUXCNC_TCL_DIR/$EMCDISPLAY.tcl $EMCDISPLAYARGS"
	Cleanup
	exit 1
    fi
    "$LINUXCNC_TCL_DIR/$EMCDISPLAY.tcl" -ini "$INIFILE" $EMCDISPLAYARGS
    result=$?
  ;;
  dummy)
    # dummy display just waits for <ENTER>
    echo "DUMMY DISPLAY MODULE, press <ENTER> to continue."
    read -r ;
  ;;
  linuxcncrsh)
    $EMCDISPLAY $EMCDISPLAYARGS "${EXTRA_ARGS[@]}" -- -ini "$INIFILE"
  ;;
  *)
    # all other displays are assumed to be commands on the PATH
    if ! program_available "$EMCDISPLAY"; then
        echo "Can't execute DISPLAY program $EMCDISPLAY $EMCDISPLAYARGS ${EXTRA_ARGS[*]}"
        Cleanup
        exit 1
    fi
    $EMCDISPLAY -ini "$INIFILE" $EMCDISPLAYARGS "${EXTRA_ARGS[@]}"
    result=$?
  ;;
esac

# the display won't return until you shut it down,
# so when you get here it's time to clean up
Cleanup

exit $result
